CN115727780A - Tunnel comprehensive inspection robot system - Google Patents
Tunnel comprehensive inspection robot system Download PDFInfo
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- CN115727780A CN115727780A CN202211159026.1A CN202211159026A CN115727780A CN 115727780 A CN115727780 A CN 115727780A CN 202211159026 A CN202211159026 A CN 202211159026A CN 115727780 A CN115727780 A CN 115727780A
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Abstract
The invention discloses a tunnel comprehensive inspection robot system which comprises an inspection mobile platform moving along a track, a tunnel surface disease acquisition module, a steel rail and track bed surface disease acquisition module, a foundation settlement detection module and a real-time positioning module, wherein the tunnel surface disease acquisition module, the steel rail and track bed surface disease acquisition module, the foundation settlement detection module and the real-time positioning module are arranged on the inspection mobile platform; patrol and examine moving platform including the chassis of installing the wheel and install on the chassis, be used for driving the motor of wheel, real-time orientation module is including being used for navigation and the encoder that links to each other with the motor, patrols and examines moving platform's location through being used for navigation and encoder in the moving process of patrolling and examining moving platform. The invention can simultaneously complete tunnel surface disease detection, foundation settlement detection and steel rail and track bed surface disease detection, and meet the requirement of disease detection diversity of urban rail tunnel facilities.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a tunnel comprehensive inspection technology.
Background
The current tunnel inspection mostly adopts a tunnel inspection vehicle to inspect defects on the surface of a tunnel and the surface of a steel rail, and the tunnel inspection vehicle is characterized in that image information on the surface of the tunnel is acquired through a linear array camera or an area array camera, so that full-coverage acquisition of image information and 3D (three-dimensional) size information on the wall surface of the tunnel, the surface of the steel rail and a track bed is formed, and the tunnel inspection vehicle is large in size and heavy in weight. For the miniaturized requirement of adaptation also there is the single laser scanner that adopts simultaneously and installs and detect tunnel 3D size on manual or electronic small rail car, perhaps single function's track patrols and examines the robot.
The defects of the prior art are as follows:
1. the comprehensive inspection vehicle has the problem of high manufacturing cost.
2. The tunnel patrol car is complex in structure, large in occupied space and high in operation cost, and cannot adapt to the requirement of rapid tunnel patrol for getting on and off the road.
3. The miniaturized patrol car or robot can not satisfy the diversified requirements of urban rail tunnel facility disease detection, the multinomial-item detection capability is not enough, and the product detection function is single.
4. The single-function inspection robot or the inspection vehicle has low positioning precision.
5. The single-function inspection robot has the problems of heavy weight, non-modular design, short endurance time, difficulty in carrying from upper channel to lower channel and the like.
6. The current inspection vehicle or inspection robot still carries out disease diagnosis based on single acquisition of self equipment.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a comprehensive tunnel inspection robot system which can realize the detection of various state parameters of a tunnel and the high-precision positioning in the inspection process.
In order to solve the technical problems, the invention adopts the following technical scheme:
a tunnel comprehensive inspection robot system comprises an inspection mobile platform moving along a track, and a tunnel surface disease acquisition module, a steel rail and ballast surface disease acquisition module, a foundation settlement detection module and a real-time positioning module which are arranged on the inspection mobile platform;
the inspection mobile platform comprises a chassis provided with wheels and a motor which is arranged on the chassis and used for driving the wheels, the real-time positioning module comprises an inertial navigation module and an encoder which is connected with the motor, and the inspection mobile platform is positioned through the inertial navigation module and the encoder in the moving process of the inspection mobile platform;
the tunnel surface disease acquisition module comprises a tunnel 3D scanner support rod, a tunnel 3D scanner arranged on the tunnel 3D scanner support rod, and a tunnel camera light source module consisting of a plurality of tunnel linear array cameras and backlight light sources which are distributed at intervals along the arc direction of a tunnel, wherein each tunnel linear array camera is exposed by one backlight light source, the illumination range of all backlight light sources covers the range of the inner wall of the tunnel, the shooting areas of two adjacent tunnel linear array cameras are partially overlapped, and the integral shooting angle of all tunnel linear array cameras covers the range of the inner wall of the tunnel;
the rail and track bed surface disease acquisition module comprises a rail 3D line laser scanner for scanning and detecting the rail, a light source for irradiating the whole rail and track bed area to form a light band and a track camera light source module consisting of a track camera with a shooting range covering the whole rail and track bed area;
the foundation settlement detection module is used for detecting the settlement of the tunnel foundation.
Preferably, the track 3D line laser scanners are arranged in pairs and are all mounted at the front end of the chassis; at least a pair of track 3D line laser scanner is a set of and at one of them rail bilateral symmetry arrangement for scan the detection and shoot the angle and cover the rail both sides same rail.
Preferably, the foundation settlement detection module and the tunnel surface defect collection module share a tunnel camera light source module, calibration piles are distributed along the left side and the right side of the tunnel extension direction, the tunnel camera light source module shoots calibration areas on the calibration piles to obtain calibration images, and the calibration points in the calibration images are (u) 0 ,v 0 ) Firstly, determining the value of the direction from the calibration pile to the tunnel camera light source module, defining the coordinate system of the calibration pile, and acquiring X in the world coordinate system W Coordinate value, Z in world coordinate system is obtained by calculation W And Y W Coordinate value of Z' W The coordinate values are fixed, by calculating Z W Coordinate value and true Z' W The difference value between the coordinate values can obtain the foundation settlement value of the section.
Preferably, the patrol and examine mobile platform and be equipped with unmanned driving walking module, unmanned driving walking module is equipped with laser radar and speed sensor.
Preferably, the real-time positioning module is further provided with a beacon reader, the transponders are arranged at intervals along the extension direction of the track, and when the inspection mobile platform passes through the corresponding transponder area in the working state, the beacon reader acquires the information of the transponders in the current area.
Preferably, the real-time positioning module is provided with a rail-to-rail line electronic map interface, and the electronic map information is acquired through the rail-to-rail line electronic map interface.
Preferably, the system is further provided with a ZC interaction module for interacting with the ZC to enable the ZC to acquire the position information of the robot in real time.
Preferably, the system is further provided with a synchronous triggering module which is used for acquiring pulse signals of the encoder and controlling the tunnel surface defect acquisition module, the foundation settlement detection module and the steel rail and track bed surface defect acquisition module to synchronously start working according to the pulse signals.
By adopting the technical scheme, the invention has the following beneficial effects:
1. with tunnel surface disease collection module, rail and railway roadbed surface disease collection module, the ground subsides detection module integration setting on patrolling and examining mobile platform, can accomplish tunnel surface disease detection, ground subsides and detect, rail and railway roadbed surface disease simultaneously, satisfy city rail tunnel facility disease and detect diversified requirement.
2. The tunnel surface defect collection module, the steel rail and track bed surface defect collection module and the foundation settlement detection module are in modular design and can be rapidly assembled according to the detection professional requirements.
3. The unmanned walking module is arranged, so that unmanned driving can be realized, the robot is controlled remotely, and the inspection task is carried out.
4. The real-time positioning module can acquire the dynamic position and the pose of the beacon in real time, wherein the beacon recognizer can acquire accurate position coordinate information, the positioning accuracy of the inspection robot is improved, and the high-accuracy coordinate reference requirement of tunnel collected data is met.
5. And interacting with the ZC through the ZC interaction module to enable the ZC to acquire the position information of the robot in real time.
6. Through the pulse signal of the motor encoder, all cameras in the tunnel surface disease acquisition module, the foundation settlement detection module and the steel rail and ballast bed surface disease acquisition module can be synchronously triggered with the light source, so that synchronous detection is realized.
The following detailed description and the accompanying drawings are included to provide a further understanding of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
fig. 1 is a schematic diagram of the general architecture of a tunnel comprehensive inspection robot system provided by the invention;
FIG. 2 is a structural diagram of a tunnel surface defect collecting module provided by the invention;
FIG. 3 is a schematic view of a coordinate system of a vision measuring system provided by the present invention;
FIG. 4 is a schematic view of measurement calibration provided by the present invention;
FIG. 5 is a structural diagram of a rail and ballast bed surface defect collection module provided by the present invention;
fig. 6 is a schematic structural view of an inspection mobile platform of the tunnel comprehensive inspection robot provided by the invention;
fig. 7 is a response detection diagram of the tunnel comprehensive inspection robot provided by the invention;
fig. 8 is a schematic diagram of a 5G communication module of the tunnel comprehensive inspection robot provided by the invention;
fig. 9 is a schematic diagram of a robot control module of the tunnel comprehensive inspection robot provided by the invention;
fig. 10 is a first schematic diagram of the tunnel comprehensive inspection robot on a track according to the present invention;
fig. 11 is a schematic diagram two of the tunnel comprehensive inspection robot provided by the invention on a track;
FIG. 12 is a schematic view of a quick mount mounting structure according to the present invention;
11-tunnel 3D scanner support bar; 12-tunnel 3D scanner; 13-a knob; 14-a fixation rod; 15-tunnel camera light source module; 16-radial support bars;
21-orbital 3D line laser scanner; 22-track camera mount; 23-a track camera light source module; 24-a base;
31-a wheel; 32-laser radar; 33-inertial navigation; 34-a message detector; 35-a box body; 36-a speed sensor;
4-calibrating the pile;
51-a handle; 52-bolt; 53-a connecting member; 54-a nut; 55-coupling shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the general architecture diagram of the tunnel comprehensive inspection robot system provided by the invention comprises an unmanned walking platform module, a tunnel surface disease acquisition module, a steel rail and track bed surface disease acquisition module, a foundation settlement detection module, a collected data processing module, a 5G communication module and a robot control module. The tunnel surface disease acquisition module is provided with a linear array camera, a light source and a tunnel 3D scanner; the rail and track bed surface disease acquisition module is provided with a track camera, a light source and a track 3D line laser scanner; the foundation settlement detection module is provided with a linear array camera and a light source; the unmanned walking platform module is provided with an encoder, inertial navigation, a speed sensor, a laser radar and a transponder; the acquisition data processing module is provided with an industrial personal computer and an image acquisition card.
As shown in fig. 2, the tunnel surface defect collecting module includes a tunnel 3D scanner support rod 11, a tunnel 3D scanner 12, a knob 13, a fixing rod 14, a tunnel camera light source module 15, and a radial support rod 16. Wherein, tunnel 3D scanner bracing piece 11 is connected with the fixed block, and the fixed block is located tunnel 3D scanner 12's opposite side, the rear side promptly. The tunnel camera light source module 15 is mounted on the radial support rod 16, and the radial support rod 16 is connected with the fixing block.
The tunnel camera light source modules are distributed at intervals along the arc direction of the tunnel, and each tunnel camera light source module consists of a tunnel linear array camera and a light source. Specifically to this embodiment, tunnel surface disease collection module has adopted 6 tunnel line cameras and 6 tunnel camera light source modules that 6 light sources are constituteed, is the circular arc distribution along the circumference of fixed block through corresponding radial bracing piece. The advantage of this overall arrangement lies in that light source and tunnel camera symmetry closely arrange, and every camera is exposed by a light source, and wherein every camera shooting area part overlaps, and the light source illumination zone covers the tunnel inner wall, can accomplish the clear of different stadia and shoot. Because the fixed positions of the tunnel camera light source modules 15 are arranged according to the circular arc, the tunnel camera light source modules 15 are installed at a certain angle in a working state, and the shooting areas of two adjacent tunnel camera light source modules are partially overlapped, so that the whole shooting angle of the tunnel camera light source modules 15 can cover the range of the inner wall of the tunnel.
The tunnel 3D scanner 12 is installed on the tunnel 3D scanner support bar 11, and is located at the front side. Under the working state, the tunnel 3D scanner 12 collects point cloud data of the tunnel inner wall to acquire three-dimensional information of the tunnel inner wall.
At present, the domestic tunnel types can be roughly divided into the following four types:
1) Double-line double-hole horseshoe tunnel
2) Rectangular double-line tunnel
3) Double-line single-hole tunnel
4) Single-line single-hole type circular tunnel
The tunnel internal diameters of the four types of tunnels are different, so that the supporting rod of the tunnel surface disease acquisition module is designed to be of a telescopic structure to meet the relevant inspection requirements. The specific telescopic structure adopts the following design, and the fixed block is gone up and is distributed along the circular arc direction has the dead lever, be equipped with flexible regulation hole on the dead lever, be connected with the flexible regulation hole that corresponds, flexible regulation hole threaded connection has locking screw, locking screw is connected with knob 13. The outside flexible part side of bracing piece has relevant scale mark for show the elongation of bracing piece, the elongation of bracing piece is adjusted to the accessible manual work, under the operating condition, according to patrolling and examining tunnel inner wall radius and stretch out and draw back the regulation, transfers to required length after, makes locking screw fasten the bracing piece through rotatory knob 13, then can begin the follow-up task of patrolling and examining.
The ground settlement detection module and the tunnel surface defect acquisition module share a tunnel camera light source module, so that a linear array camera and a light source do not need to be additionally arranged. The method specifically comprises the steps that a tunnel camera light source module is arranged on each of the left side and the right side of a tunnel surface defect collecting module, and the tunnel camera light source modules are arranged horizontally.
The principle of monocular camera detection is described below. A detection system used by a monocular foundation settlement detection module relates to the conversion of the relation between different coordinate systems, and mainly comprises four types of coordinate systems: the system comprises an image coordinate system, an image physical coordinate system, a camera coordinate system and a world coordinate system, wherein the image physical coordinate system is established on the basis of the image coordinate system. FIG. 3 is a coordinate system of a vision measuring system provided by the present invention;
the coordinate conversion relation of any pixel point of the camera imaging surface in the image coordinate system and the image physical coordinate system is as follows:
in the formula, u and v are horizontal coordinate values and vertical coordinate values of the pixel points in the image coordinate system.
The conversion of any point P in space under the inadvertent coordinate system and the camera coordinate system is as follows:
the monocular linear array camera imaging model is a pinhole imaging model. And a connecting line between the optical center O and any point Q in space is the imaging position of Q at the focal point Q of the camera imaging plane. Assuming that the coordinates of Q in the camera coordinate system are (X, Y, z) and the coordinates of the imaging point in the image physical coordinate system are (X, Y), the transformation relationship is as follows:
expressed using a matrix and homogeneous coordinate system as:
where s is a constant and P is the camera imaging matrix.
The conversion relation between the coordinate of Q in the space under the world coordinate system and the imaging point Q on the imaging surface is as follows:
wherein alpha is x = f/dX & alpha y = f/dX are scale factors on the u-axis and v-axis of the image coordinate system, respectively; m is a three-dimensional projection matrix; m is a group of 1 Is according to alpha x 、α y 、u 0 、v 0 Determined due to alpha x 、α y 、u 0 、v 0 It is only related to the internal parameters of the camera, so it is defined as camera internal parameters; due to M 1 Is determined by the spatial position of the camera and is therefore defined as a camera argument.
FIG. 4 is a schematic diagram of measurement calibration provided by the present invention; if the internal and external parameters of the camera are determined, the three-dimensional imaging matrix M can be determined, the linear array camera shoots a calibration area on the calibration pile 4 to obtain a calibration image, and the calibration point position in the image is (u) 0 ,v 0 ) The value of the direction from the calibration pile to the camera can be determined first, and the coordinate system is defined, so that the X in the world coordinate system can be obtained W Coordinate values, Z in world coordinate system can be calculated by the above formula W And Y W The coordinate values Z 'can be regarded as rigid bodies in the regions on both sides of the track segment relative to the track segment' W The coordinate values may be regarded as fixed, Z being calculated by comparison W Coordinate value and true Z' W And (4) determining the foundation settlement level of the section according to the coordinate value. Therefore, the foundation settlement detection module can realize dynamic continuous detection of foundation settlement.
As shown in fig. 5, the rail and track bed surface defect collecting module includes a rail 3D line laser scanner 21, a rail camera fixing frame 22, a rail camera light source module 23, and a base 24. The rail and track bed surface defect acquisition module adopts 2 track camera modules and 4 track 3D line laser scanners. The track camera light source module is arranged on the track camera support, the track camera support comprises a cross beam and upright columns which are vertically connected to two ends of the cross beam, the upright columns are connected with the base, and the base is fixed on the chassis. The two track camera light source modules 23 are arranged on the same plane, the shooting range of the track camera light source modules 23 can cover the whole steel rail and track bed area, and the track camera light source modules 23 are respectively exposed by one light source and can form light bands with uniform brightness at the position of a tunnel steel rail and a track bed. 4 platform 3D line laser scanners 21, install in the base front end, wherein, per two 3D line laser scanners 21 are a set of, the mounted position is reverse symmetrical arrangement, make two 3D line laser scanners 21's symmetrical center line fall on the rail, under the operating condition, two 3D line laser scanners 21 scan and detect a rail, the shooting angle can cover the rail both sides, so arrange and to guarantee that every a set of 3D line laser scanner 21 keeps unanimous with the distance on rail surface, need not the adjustment parameter at the shooting in-process, the three-dimensional information of rail can accurately be obtained to the point cloud data of collection on a rail, the point cloud data acquisition distance that a set of 3D line laser scanner 21 on a rail was gathered is unanimous, the degree of difficulty of point cloud data processing has been reduced to a great extent, be convenient for the real-time treatment of point cloud data, the processing timeliness of rail three-dimensional model is improved. It can be understood that the number of 3D line laser scanners can be increased, and the track 3D line laser scanners are arranged in pairs, and at least one pair of track 3D line laser scanners is a group and symmetrically arranged on two sides of one of the steel rails, and is used for scanning and detecting the same steel rail and covering two sides of the steel rail with shooting angles.
In the technical scheme, the tunnel surface disease acquisition module, the steel rail and track bed surface disease acquisition module and the foundation settlement detection module are integrated on the inspection mobile platform, so that the tunnel surface disease detection, the tunnel structure disease detection, the foundation settlement detection, the steel rail and track bed surface disease detection and the steel rail all-state parameter detection can be completed simultaneously.
In addition, the tunnel surface disease acquisition module, the steel rail and ballast surface disease acquisition module and the foundation settlement detection module are in a modular design, and the tunnel surface disease acquisition module and the foundation settlement detection module can be shared. Tunnel 3D scanner bracing piece and patrol and examine moving platform can adopt multiple mode to be connected among the tunnel surface disease collection module, and on the same way, the base can adopt multiple mode to be connected with the moving platform of patrolling and examining among rail and the railway roadbed surface disease collection module, consequently, can carry out fast assembly according to detecting professional requirement.
As shown in fig. 6, the inspection mobile platform includes a chassis having wheels 31, and a motor mounted on the chassis for driving the wheels, and the chassis further includes a laser radar 32, an inertial navigation system 33, a message detector 34, a box 35, and a speed sensor 36. 4 modules are assembled on the patrol mobile platform, namely an unmanned walking platform module, a collected data processing module, a 5G communication module and a robot control module.
The unmanned walking module adopts a laser radar, a speed sensor, inertial navigation, an encoder connected with a motor and a message detector, and is installed by depending on a chassis.
The motor is arranged under the chassis, and under the working state, the motor drives the wheels to advance, and meanwhile, in the rotating process of the wheels, the encoder can generate pulse signals. And the synchronous trigger module is used for acquiring pulse signals of the encoder and controlling the tunnel surface disease acquisition module, the foundation settlement detection module and the steel rail and ballast surface disease acquisition module to synchronously start working according to the pulse signals. Specifically, through the pulse signal, cameras in the tunnel surface disease acquisition module, the foundation settlement detection module and the steel rail and ballast surface disease acquisition module can be synchronously triggered with light sources, the triggering modes in the operation process are of various types, and the polling target can be shot and scanned by adopting a mode of synchronously triggering once operation at a certain distance.
The tunnel comprehensive inspection robot supports automatic driving under unmanned control, walks or stops by scanning obstacle detection conditions of an orbit area through a laser radar, positions of the robot in a world coordinate system are positioned through inertial navigation and an encoder, the tunnel comprehensive inspection robot can be accurately positioned and calibrated, a disease position and an obstacle position in the orbit area can be obtained through scanning, self position and posture information can be obtained in real time and can be used as an orbit coordinate for high-precision data acquisition processing, and the high-precision coordinate reference requirement of tunnel data acquisition is met.
The inertial navigation adopts a gyroscope and an accelerometer, can measure three-axis attitude angles and accelerations of an object, the accelerometer measures three-axis accelerations of the inspection robot in an inspection robot coordinate system, the gyroscope detects angular velocity signals of the inspection robot relative to a world coordinate system, and when the inertial navigation system runs, the three-axis accelerations and the gyroscope angular velocity in the inspection robot coordinate system are calculated to obtain the pose of the inspection robot in the world coordinate system.
The basic mechanical formula of inertial navigation is as follows:
in the formula, a is acceleration, V is velocity, and t is time.
Acceleration, speed, and range relationship:
wherein S is a route.
As shown in fig. 7, the inspection robot has a function of reading a beacon of a rail transit line, and can acquire an existing beacon message of the rail transit line for accurate positioning without adding an additional electronic tag. The beacon recognizer is used as an intermediary for information acquisition and transmission between the transponder and the management platform and carried in the tunnel to comprehensively patrol the robot, the transponder is mounted in the middle of a track according to the requirement of a fixed distance or a line, in the working state, when the tunnel patrol robot carries the beacon recognizer to patrol and examine a task, the beacon recognizer corresponds to the transponder region through the way, acquires the transponder information of the current region, and by combining with related components such as inertial navigation, the current position information can be adjusted in real time, the high-precision positioning is provided for the robot, and the accurate position is provided.
The encoder obtains the number of rotation turns n in the wheel rotation process, the radius of the wheel is known as r, and the walking length L can be calculated through the following formula:
L＝2*π*r*n
relative poses and displacements in the driving process are obtained by the inertial navigation and the encoder, accumulated errors exist, and the accurate positions obtained by the beacon after surveying and mapping are used for clearing the errors.
The beacon recognizer is used for positioning message information in a beacon and consists of a decoder module and an antenna. The beacon recognizer and the antenna are installed on the inspection robot, and the vertical distance between the lower surface of the antenna and the upper surface of the ground transponder is about 5-10 cm. The transmitting power of the antenna of the message detector is not more than 2 watts.
The beacon recognizer antenna is a duplex transceiving antenna and transmits power carrier waves for activating the ground transponder to the ground, and the carrier frequency is 27.095MHz +/-5 KHz; receiving data message sent by ground responder, the central frequency is 4.234MHz +/-200 KHz, the logical 0 (fL) is 3.951MHz, the logical 1 (fH) is 4.516MHz, FSK modulation mode, modulation frequency deviation is 282.24KHz +/-5%, average data transmission rate is 564.48 +/-2.5 kbps.
The beacon recognizer decoder is a module for processing data of the ground transponder, decodes and restores the transponder message and transmits the transponder message to the inspection robot computer.
The beacon recognizer can only receive and transmit the transponder message above the transponder due to small transmitting power, and for the transponder with the reduced size, the effective reference area is 200mmX390mm, so that the positioning precision of the message detector is +/-10cm (the transponder is horizontally arranged) or +/-19.5cm (the transponder is vertically arranged).
The robot is in the in-process of patrolling and examining of doing the circuit, usually patrol and examine at night window phase, for the night operation of slowing down, parallel operation such as each professional equipment instrument and machineshop car usually, in order to increase the safety of protection operation personnel, avoid bumping with the machineshop car, the robot is equipped with ZC interaction module, according to the specific transmission protocol of signal system, can interact with ZC, ZC can obtain the position information of robot in real time like this, and according to the position information of robot, carry out removal authorization and safety control to the machineshop car that probably has the circuit or other robots of bringing into ZC management, be convenient for fortune dimension system to look over its operating position, can work with the machineshop car simultaneously. The robot can be virtually linked and the positioning management of the signal equipment can be realized.
Therefore, the inspection robot has a virtual coupling function, can accurately identify the distance of the tracked engineering vehicle according to the 3D laser radar, and keeps running at a constant distance.
In addition, the inspection robot is provided with a rail-crossing line electronic map interface, can acquire electronic map information and compares the driving position with the electronic map. The electronic map is a precisely mapped train running map, and precise line information can be obtained through the electronic map and is used for self-adaptive control of the inspection robot.
The data acquisition module adopts 2 industrial personal computers arranged in the box body, an image acquisition card is arranged in each industrial personal computer, under the working state, acquired data are stored in the image acquisition cards and are transmitted and stored in the background server through communication, data are transmitted to the workstation for processing and displaying in the industrial personal computers according to image disease data, and in addition, two lithium batteries are arranged in the box body and are used as electric power energy sources of the tunnel comprehensive inspection robot to drive other modules to work. The design of the robot body, the standardized layout of the acquisition modules and the interface design enhance the access of all detection modules of a compatible robot of the tunnel inspection robot into a main control module of the inspection robot, and the types of the detection modules can be automatically identified and acquisition and identification programs of the detection modules can be called according to the signal definition of all the detection modules.
As shown in fig. 8, the 5G communication module adopts a cloud-side-end cooperative manner, and realizes connection between the inspection robot and the cloud brain through the wireless 5G communication network, and meanwhile, the cloud brain can be connected with the mobile terminal, so that an operator can control the robot at a Pad (tablet personal computer) end and display data. Reference may be made to the prior art for specific principles.
As shown in fig. 9, the user can control the robot through the PAD or the control APP of the robot in the mobile phone and the remote control center through the wireless communication modules such as the 5G communication module/wifi/bluetooth. The walking control command and relevant position information of the robot (robot controlled and protocol command), posture and state feedback information of the robot (robot master control) and type and result image information of disease treatment can be returned to a PAD (PAD application program) or a mobile phone terminal of an inspector, and simultaneously, the walking control command and the relevant position information of the robot, the posture and state feedback information of the robot and the type and result image information of the disease treatment can be synchronously transmitted to an intelligent maintenance center of a user.
Therefore, the robot is controlled by following personnel, platform control personnel and central service personnel, the inspection task is carried out, real-time detection data are obtained, and maintenance and processing are facilitated.
As shown in fig. 10 and 11, the tunnel surface disease acquisition module, the foundation settlement detection module, the steel rail and ballast surface disease acquisition module and the routing inspection mobile platform are assembled according to corresponding positions, the tunnel comprehensive routing inspection robot operates according to a routing inspection plan, the tunnel comprehensive routing inspection robot operates on the standard steel rail shown in fig. 10, and in an operating state, personnel is not required to follow, routing inspection related information results can be remotely acquired, related problems are timely processed, and the safety of tunnel operation is guaranteed.
As shown in fig. 10 and 11, the present invention is suitable for scanning and detecting cylindrical surfaces, for example, for detecting the inner wall of a subway tunnel, a highway tunnel, etc., the surface of a steel rail, a track bed, etc. And in the working state, the tunnel comprehensive inspection robot executes an inspection task according to an inspection plan. The space of the shield tunnel is limited, therefore, the tunnel comprehensive inspection robot must avoid tunnel equipment such as power equipment, the original equipment environment of the tunnel is not changed, the comprehensive related requirements are integrated, the tunnel comprehensive inspection robot is light in weight, miniaturization and structural design of the track traffic tunnel comprehensive inspection robot are carried out according to modularization criteria, compared with the traditional inspection robot, the tunnel comprehensive inspection robot is high in all module integration levels, redundant structures are reduced, each module can be greatly reduced in size, but when the size is reduced, various functions of the tunnel comprehensive inspection robot cannot be influenced, finally, the tunnel comprehensive inspection robot is light in weight, miniaturization and modularization targets are achieved, and the tunnel comprehensive inspection robot can have strong adaptability in the condition environment facing various complex tunnels during actual operation. The robot body design, the standardized layout of the acquisition modules and the interface design enhance the compatibility of the tunnel inspection robot. The robot is designed in a light weight mode, and the main structure of the robot is designed to be an aluminum alloy and titanium alloy light frame, so that the robot is light in weight.
When the tunnel surface defect collection module and the steel rail and ballast surface defect collection module adopt independent module design, quick assembly and disassembly are realized by adopting quick disassembly type structural design. Specifically, tunnel surface defect collection module and rail and railway roadbed surface defect collection module components of a whole that can function independently set up and embrace a locking device through the cam and patrol and examine moving platform and can dismantle and be connected. As shown in fig. 12, the cam axle-clasping locking device comprises a cam handle 51, a bolt 52, a connecting part 53, a nut 54 and a connecting shaft 55, wherein the connecting part is provided with a connecting hole, and the connecting part is also provided on a corresponding module, when the cam axle-clasping locking device is installed, the connecting shaft 55 is firstly aligned with the connecting hole, the connecting hole of the connecting part is inserted into the connecting shaft 55 from the lower part, the connecting shaft 55 upwards penetrates through the connecting hole of the connecting part from the upper part, the upper end of the connecting shaft 55 is provided with a pin hole, the pin hole and the corresponding hole positions on the cam handle 51 and the connecting shaft 55 are inserted into the bolt 52, and the nut 54 is locked, so that the installation process of the quick-release device is completed, the rotating part of the cam handle 51 is of a cam structure, and due to the difference of the vertical radiuses of the cams, the handle is pulled from one end to the other end to complete the locking between the modules.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the present invention may be practiced without limitation to such specific embodiments. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the claims.
Claims (8)
1. A tunnel comprehensive inspection robot system is characterized by comprising an inspection mobile platform moving along a track, a tunnel surface disease acquisition module, a steel rail and track bed surface disease acquisition module, a foundation settlement detection module and a real-time positioning module, wherein the tunnel surface disease acquisition module, the steel rail and track bed surface disease acquisition module, the foundation settlement detection module and the real-time positioning module are arranged on the inspection mobile platform;
the inspection mobile platform comprises a chassis provided with wheels and a motor which is arranged on the chassis and used for driving the wheels, the real-time positioning module comprises an inertial navigation device and an encoder connected with the motor, and the inspection mobile platform is positioned through the inertial navigation device and the encoder in the moving process of the inspection mobile platform;
the tunnel surface disease acquisition module comprises a tunnel 3D scanner supporting rod, a tunnel 3D scanner installed on the tunnel 3D scanner supporting rod, a tunnel camera light source module consisting of a plurality of tunnel linear array cameras and backlight light sources which are distributed at intervals along the arc direction of a tunnel, wherein each tunnel linear array camera is exposed by one backlight light source, the illumination range of all the backlight light sources covers the range of the inner wall of the tunnel, the shooting areas of two adjacent tunnel linear array cameras are partially overlapped, and the whole shooting angle of all the tunnel linear array cameras covers the range of the inner wall of the tunnel;
the rail and track bed surface disease acquisition module comprises a rail 3D line laser scanner for scanning and detecting the rail, a light source for irradiating the whole rail and track bed area to form a light band and a track camera light source module consisting of a track camera with a shooting range covering the whole rail and track bed area;
the foundation settlement detection module is used for detecting the settlement of the tunnel foundation.
2. The comprehensive tunnel inspection robot system according to claim 1, wherein the rail 3D line laser scanners are arranged in pairs and are all mounted at the front end of the chassis; at least a pair of track 3D line laser scanner is a set of and at one of them rail bilateral symmetry arrangement for scan the detection and shoot the angle and cover the rail both sides to same rail.
3. The comprehensive tunnel inspection robot system according to claim 1, wherein the foundation settlement detection module and the tunnel surface disease acquisition module share a tunnel camera light source module, and the tunnel camera light source module is arranged along the left side and the right side of the tunnel extension directionThe side is provided with calibration piles, the light source module of the tunnel camera shoots calibration areas on the calibration piles to obtain calibration images, and the calibration points are (u) in the calibration images 0 ,v 0 ) Firstly, determining the value of the direction from the calibration pile to the tunnel camera light source module, defining the coordinate system of the calibration pile, and acquiring X in the world coordinate system W Coordinate value, Z in world coordinate system W And Y W Coordinate value of Z' W The coordinate values are fixed and unchanged by calculating Z W Coordinate value and true Z' W The difference value between the coordinate values can obtain the foundation settlement value of the section.
4. The tunnel comprehensive inspection robot system according to claim 1, wherein the inspection mobile platform is provided with an unmanned walking module, and the unmanned walking module is provided with a laser radar and a speed sensor.
5. The tunnel comprehensive inspection robot system according to claim 1, wherein the real-time positioning module is further provided with a beacon reader, the transponders are arranged at intervals along the extension direction of the track, and the beacon reader acquires information of the transponders in the current area when the inspection mobile platform passes through the corresponding transponder area in the working state.
6. The tunnel comprehensive inspection robot system according to claim 1, wherein the real-time positioning module is provided with a rail-to-rail line electronic map interface, and electronic map information is acquired through the rail-to-rail line electronic map interface.
7. The system according to claim 1, further comprising a ZC interaction module configured to interact with the ZC, so that the ZC obtains the position information of the robot in real time.
8. The comprehensive tunnel inspection robot system according to claim 1, further comprising a synchronous trigger module for acquiring pulse signals of the encoder and controlling the tunnel surface defect acquisition module, the foundation settlement detection module, the steel rail and track bed surface defect acquisition module to start working synchronously according to the pulse signals.
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| CN202211159026.1A CN115727780A (en) | 2022-09-22 | 2022-09-22 | Tunnel comprehensive inspection robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929299A (en) * | 2023-09-18 | 2023-10-24 | 中交隧道工程局有限公司 | Shield tunnel deformation control method in adjacent engineering construction process |
| CN117309903A (en) * | 2023-10-10 | 2023-12-29 | 青岛峻海物联科技有限公司 | Method and device for positioning defects in tunnel |
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2022
- 2022-09-22 CN CN202211159026.1A patent/CN115727780A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929299A (en) * | 2023-09-18 | 2023-10-24 | 中交隧道工程局有限公司 | Shield tunnel deformation control method in adjacent engineering construction process |
| CN116929299B (en) * | 2023-09-18 | 2023-12-05 | 中交隧道工程局有限公司 | Shield tunnel deformation control method in adjacent engineering construction process |
| CN117309903A (en) * | 2023-10-10 | 2023-12-29 | 青岛峻海物联科技有限公司 | Method and device for positioning defects in tunnel |
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